主催: 公益社団法人 計測自動制御学会, 一般社団法人 日本機械学会, システム制御情報学会, 一般社団法人 電気学会, 公益社団法人 化学工学会, 公益社団法人 精密工学会, 一般社団法人 日本航空宇宙学会
共催: 国立大学法人 群馬大学, 53の学会，協会などから協賛
会議名: 第57回自動制御連合講演会
開催地: 群馬伊香保 ホテル天坊
開催日: 2014/11/10 - 2014/11/12
This paper proposed a predictive control system for balancing an inverted wheeled robot on a ship using the autoregressive model and Kalman filter. In general, the control system of inverted wheeled robot is designed on the assumption that ground does not move. However, a ship has six degrees of freedom. Therefore, a method of predicting the ship's motion was required to control the balancing inverted wheeled robot on the ship. This study was focused on the ship's rolling motion. On the ship, the rolling motion was predicted by the autoregressive model and Kalman filter, and then the inverted wheeled robot was controlled by adding accelerations to the inverted wheeled robot for canceling the inertia forces of the predicted rolling motion. Effectiveness of the proposed control system was indicated with experimental results.
